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21676 Commits

Author SHA1 Message Date
Siddharth Purohit
f31cf7debe AP_Compass: reset compass ids not present after compass cal 
also implement replacement mechanism for UAVCAN compasses
 2020-07-30 08:44:39 +09:00
Andrew Tridgell
5f604ff012 AP_RangeFinder: fixed legacy parsing of 65436 for lightware i2c 
some lidars will probe as legacy protocol and return 65436 as range
 2020-07-30 08:44:36 +09:00
Andrew Tridgell
0e7a911aae HAL_ChibiOS: enable HAL storage erase 2020-06-30 21:02:59 +09:00
Andrew Tridgell
4eb5e5e8d4 StorageManager: use hal.storage->erase() 2020-06-30 21:02:59 +09:00
Andrew Tridgell
3ace15b04e AP_HAL: added erase() method to Storage class 2020-06-30 21:02:59 +09:00
Andy Piper
2b717a19ab AP_Compass: enable LIS3MDL and friends 2020-06-30 15:33:07 +09:00
Randy Mackay
099067dbc9 AP_AHRS: attitudes_consistent obeys always_use_EKF 2020-06-16 10:26:23 +09:00
Andrew Tridgell
685e412d14 HAL_ChibiOS: increase monitor thread stack to 768 bytes 
attempt to fix issue #14582
 2020-06-15 17:57:18 +10:00
Henry Wurzburg
df5ab0c148 AP_RangeFinder: rename Benewake types for easier identification 2020-06-13 08:21:13 +09:00
Andrew Tridgell
7d4e6e6fe8 HAL_ChibiOS: fixed default CubeOrange pin for 2nd current sensor 2020-06-13 08:02:03 +09:00
bugobliterator
46b078a43f AP_Compass: return id of max empty compass state when prio id is 0 2020-06-13 07:51:04 +09:00
Andrew Tridgell
68270d2028 HAL_ChibiOS: added Holybro Pix32v5 2020-06-12 21:24:37 +10:00
Andras Schaffer
4201a807fc AP_Proximity: fix proximity ignored zone calulation 
It seems there was a typo in the checking of proximity ignored zones.
 2020-06-12 16:51:37 +09:00
Andrew Tridgell
fb1bd4b47f AP_RangeFinder: cope with beyond max range with LightwareI2C 2020-06-12 16:50:46 +09:00
MATEKSYS
e95bfc5e5f HAL_ChibiOS: MatekH743: move baro to I2C2 bus 2020-06-11 17:32:57 +10:00
Andrew Tridgell
6c1be255bd HAL_ChibiOS: fixed build with our old compiler 
gcc 4.9 doesn't like static_assert() in C code
 2020-06-10 17:34:45 +10:00
duccan
bde8ed37c3 AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 
Rework after review:
- Kept old IMU and barometer definition of crazyflie 2.0 in hwdef
- Added comment regarding soft-reset command
- Added defaults.parm for crazyflie
 2020-06-10 17:34:37 +10:00
duccan
981d1d0f4c AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 2020-06-10 17:34:32 +10:00
James Jacobsson
d7ef792933 AP_HAL_Chibios: Adjust MatekF765-Wing voltage and current scales 
The new values matches the ones from here:
http://www.mateksys.com/?portfolio=f765-wing#tab-id-5

Also verified to be a lot more accurate in real life.
 2020-06-10 17:34:23 +10:00
CUAVcaijie
cb4a2b7382 HAL_ChibiOS:Adapt to CUAV Nora V1.2 hardware 2020-06-10 17:34:07 +10:00
pkocmoud
8f40d5b588 HAL_ChibiOS: Added support for mRo Pixracer Pro flight controller 2020-06-10 17:34:03 +10:00
Andrew Tridgell
f2bca400c4 AP_Vehicle: instantiate and init hott telem for copter4.0 2020-06-07 08:52:33 +10:00
Andrew Tridgell
dd88fdf7e7 AP_GPS: fixed issue with GPS selection for moving baseline 
when you have a moving baseline pair of ublox GPS modules and the
rover GPS does not have full fixed RTK lock on the base GPS then we
should not use it as our primary GPS as it's position and velocity can
be badly affected by the attempts of the GPS to gain a fixed lock.

This was observed in a flight with two F9P GPS, where the GPS velocity
data from the rover GPS went way off when it lost full RTK lock. It's
status stayed at 4, so it was selected as the primary GPS
 2020-05-27 11:29:22 +10:00
Andrew Tridgell
83c6327873 AP_Compass: revert change to RM3100 scale factor and increase scale limit 
This reverts the change from #13895 and instead resolves the issue by
increasing the scale factor limit to 1.4

There is an open question as to why some RM3100 compasses show a
different scale factor (by about 1.25 times) to other versions of the
same sensor. As we haven't resolved this properly it seems the correct
thing to do is follow the datasheet but allow for a wider range of
scale factors to cope with the variation between sensors
 2020-05-23 15:05:03 +10:00
Andrew Tridgell
0816779fae HAL_ChibiOS: disable ROMFS hwdef.dat for 4.0 release 
will be in 4.1
 2020-05-21 16:10:10 +10:00
bugobliterator
234d9f1ba4 HAL_ChibiOS: use FIFO mode instead of Queue mode in FDCAN driver 2020-05-21 15:33:07 +10:00
Andrew Tridgell
11ca633503 AP_IOMCU: force safety off on IOMCU reset 
if safety was forced off previously and we get an IOMCU reset then
force it off when the reset happens so vehicle can keep flying
 2020-05-14 18:29:25 +10:00
Andrew Tridgell
2ed1aafcba SITL: fixed dup param index 2020-05-12 15:34:16 +10:00
Siddharth Purohit
de86342e93 AP_Arming: add arming message for compass not detected but assigned 2020-05-11 19:41:11 +10:00
Siddharth Purohit
1b63cb6d5c AP_Arming: Primary Compass is always at serial# 0 2020-05-11 19:41:09 +10:00
Andrew Tridgell
25b0a113d5 AP_NavEKF3: fixes for new compass API 2020-05-11 19:38:54 +10:00
Andrew Tridgell
17a45b2c44 AP_NavEKF2: fixes for new compass API 2020-05-11 19:38:53 +10:00
Andrew Tridgell
cbb1512ebc AP_Compass: merged in compass device ID changes from master 2020-05-11 19:38:28 +10:00
Andrew Tridgell
03204ac0eb SITL: added new compass parameters 2020-05-11 19:35:32 +10:00
Andrew Tridgell
36caf3da49 AP_Param: added find_top_level_key_by_pointer 2020-05-11 19:35:20 +10:00
Andrew Tridgell
eddb0a7376 AP_Common: added TSIndex.h 2020-05-11 19:35:03 +10:00
Andrew Tridgell
820729186a AP_TECS: sync TECS with plane4.0 2020-05-11 18:14:48 +10:00
Andrew Tridgell
8647cc9e72 AP_SpdHgtControl: sync TECS with plane4.0 2020-05-11 18:14:48 +10:00
Andrew Tridgell
a552861d8f AP_Common: added IGNORE_RETURN 2020-05-11 17:45:58 +10:00
Andrew Tridgell
5c46a0f2a7 AP_SerialManager: added Hott telem 2020-05-11 17:45:58 +10:00
Andrew Tridgell
010c949464 AP_Hott_Telem: sync with master 2020-05-11 17:45:58 +10:00
Andrew Tridgell
875184f774 HAL_ChibiOS: fixed CubeSolo hwdef.dat 2020-05-11 17:34:17 +10:00
Andrew Tridgell
dfd80b5d8b AP_Notify: fixed recursion bug in tone player 2020-05-11 17:25:13 +10:00
Andrew Tridgell
00745adba8 AP_InertialSensor: resync for 4.0 2020-05-11 17:22:22 +10:00
Andrew Tridgell
6d34aaeefa AP_Baro: resync for 4.0 2020-05-11 17:22:07 +10:00
Andrew Tridgell
74444a28cc AP_FlashStorage: resync for 4.0 update 2020-05-11 16:46:43 +10:00
Andrew Tridgell
e291bd1471 AP_BoardConfig: added BRD_ALT_CONFIG 2020-05-11 16:01:33 +10:00
Andrew Tridgell
ac6f429e25 AP_RAMTRON: resync for 4.0 2020-05-11 16:01:17 +10:00
Andrew Tridgell
12292b4283 AP_Frsky_Telem: support FPort 2020-05-11 15:57:44 +10:00
Andrew Tridgell
01a603be43 RC_Channel: added fport pad option 2020-05-11 15:57:44 +10:00
Andrew Tridgell
149476c59a AP_RCProtocol: added fport prototol support 2020-05-11 15:57:44 +10:00
Andrew Tridgell
ebb528905d AP_InternalError: resync for 4.0 update 2020-05-11 15:56:07 +10:00
Andrew Tridgell
bdd7094d17 AP_IOMCU: resync for 4.0 update 2020-05-11 15:55:57 +10:00
Andrew Tridgell
ee9d161196 HAL_SITL: resync for 4.0 update 2020-05-11 15:55:43 +10:00
Andrew Tridgell
b925cb121d HAL_Linux: resync for 4.0 update 2020-05-11 15:55:35 +10:00
Andrew Tridgell
31f7b32fab HAL_ChibiOS: resync for 4.0 update 2020-05-11 15:55:16 +10:00
Andrew Tridgell
a426964349 AP_HAL: re-sync APIs for 4.0 update 2020-05-11 15:54:48 +10:00
Andrew Tridgell
4c27e07d06 AP_GPS: sync with master for new yaw handling 2020-05-11 13:59:44 +10:00
Andrew Tridgell
8c9efec4e3 GCS_MAVLink: fixed build with updated mavlink xml 2020-05-11 13:59:17 +10:00
Andrew Tridgell
756863ee9d mavlink: update for GPS yaw 2020-05-11 13:56:29 +10:00
Andrew Tridgell
64557413b8 HAL_ChibiOS: switch non-composite USB ID 
use newly allocated 0x1209/0x5740
 2020-05-11 13:50:46 +10:00
Andrew Tridgell
10416f92c4 HAL_ChibiOS: set CS pins high while in bootloader 
this appears to be the root cause of the parameter resets on
CubeOrange. We need to ensure the CS pin is not floating or random
noise on the SPI bus for FRAM can cause the FRAM to become corrupt
 2020-05-11 13:48:28 +10:00
Andrew Tridgell
af11a8e572 GCS_MAVLink: consider NO_CHANGE as success for bootloader flash 
this prevents GCS users from seeing "update failed"
 2020-05-11 13:45:08 +10:00
Andrew Tridgell
739d921813 AP_InertialSensor: suppress expected errors from invensense IMUs 2020-05-11 13:45:08 +10:00
Andrew Tridgell
8088923162 HAL_ChibiOS: improve error messages for flashing bootloader 
send progress as statustext messages
 2020-05-11 13:45:07 +10:00
Andrew Tridgell
0ca4b589a7 AP_HAL: use enum for flash_bootloader() result 2020-05-11 13:45:07 +10:00
Andrew Tridgell
2215fbd7a4 HAL_ChibiOS: suppress SPI timeout error for expected delay 2020-05-11 13:38:21 +10:00
Andrew Tridgell
8c49690acf HAL_ChibiOS: implement in_expected_delay() 2020-05-11 13:38:18 +10:00
Andrew Tridgell
aafc5be1c2 AP_HAL: added in_expected_delay() 
allows for error message suppression when delays are expected
 2020-05-11 13:38:15 +10:00
Andrew Tridgell
00d99c5177 AP_GPS: don't accept a zero GNSS timestamp from UAVCAN GPS 
this is needed for a bug in AP_Periph 1.0 which could briefly send a
zero timestamp on first fix marked as a UTC time
 2020-05-11 13:37:01 +10:00
Andrew Tridgell
b0e7251832 HAL_ChibiOS: fixed race condition in storage write 
we could mark a line as clean when it should be dirty if we lose a
race condition between storage thread and writer
 2020-05-11 13:35:54 +10:00
Randy Mackay
9750f99b91 AP_OADatabase: send_adsb uses vehicle's current altitude 2020-05-11 10:22:27 +09:00
Randy Mackay
bfa6886e50 AP_OADatabase: available regardless of hal-minimize-features 
In Copter with minimize feature set the entire AP_PathPlanning feature including the database are unavailable
Rover has enough space for the database even with minimise features set
 2020-05-11 10:22:23 +09:00
Randy Mackay
933db99778 AP_OAPathPlanner: slow updates to 1hz, timeout to 3sec 2020-05-11 10:22:20 +09:00
Randy Mackay
a895d2e7c9 AP_OABendyRuler: integrate oadb ekf-offset change 2020-05-11 10:22:18 +09:00
Randy Mackay
032544f876 AP_Math: add vector2f::offset_bearing 2020-05-11 10:22:15 +09:00
Randy Mackay
69e85d2e08 AP_Proximity: integrate oadb ekf-offset change 2020-05-11 10:22:10 +09:00
Randy Mackay
f474cfdf12 AP_OADatabase: replace Location with offset from origin 2020-05-11 10:22:05 +09:00
Randy Mackay
80d8889d14 AP_Proximity: remove unused get_horizontal_distance 2020-05-11 10:22:01 +09:00
Randy Mackay
52c21d6ea0 AP_Proximity: sf40c combines seven readings for oadb 2020-05-11 10:21:57 +09:00
Randy Mackay
e74676ad05 AP_Proximity: always use 8 sectors and fix ignore areas 2020-05-11 10:20:42 +09:00
Randy Mackay
c9c28abac1 AP_OABendyRuler: integrate static object radius 2020-05-11 09:50:58 +09:00
Randy Mackay
52c1f9f798 AP_OADatabase: calculate object radius based on distance and beam width 
also all object database items are normal importance
 2020-05-11 09:50:55 +09:00
Randy Mackay
b8458d9cb4 AP_Proximity: integrate oadb::queue_push argument swap 2020-05-11 09:50:53 +09:00
Randy Mackay
f6bc33ea2f AP_Proximity: remove unnecessary const from database_push 
also shorten current_vehicle_bearing argument to just current_heading
 2020-05-11 09:50:50 +09:00
Randy Mackay
b59908e4d3 AP_OADatabase: remove unnecessary const on arguments 
also swap order of angle and distance arguments to be consistent with proximity library
 2020-05-11 09:50:47 +09:00
Kelly Schrock
080e477b36 AP_BattMonitor: NeoDesign battery driver 
Adds a driver for the NeoDesign BMS, with variable cell count.
 2020-05-06 15:48:49 +09:00
Andrew Tridgell
160839f0e1 AP_Battery: fixed bug in SUI driver 
fixed bug in total voltage
 2020-05-06 15:48:11 +09:00
Andrew Tridgell
9c16e30178 AP_BattMonitor: added SUI SMBUS battery backend 
originally by Kelly Schrock
 2020-05-06 15:48:04 +09:00
Randy Mackay
6f77a75be5 AP_BattMonitor: set default I2C bus for Solo and Maxell drivers 2020-05-06 15:47:26 +09:00
Randy Mackay
0edc341231 AP_BattMonitor: Maxell cell voltages timeout after 5sec 2020-05-06 15:47:22 +09:00
Randy Mackay
51cab958b9 AP_Scripting: example to check battery cycle count 2020-05-06 15:47:17 +09:00
Randy Mackay
f7a89ae055 AP_Scripting: add binding for BattMonitor's get_cycle_count method 2020-05-06 15:47:12 +09:00
murata
4192ec1700 AP_BattMonitor: Maxell battery on any I2C bus 2020-05-06 15:47:08 +09:00
Randy Mackay
30a0f22d13 AP_BattMonitor: add cycle count for smbus batteries 2020-05-06 15:47:05 +09:00
Andrew Tridgell
ede5cabbf5 HAL_ChibiOS: save 3k of flash on MatekF405-Wing 
disable SMBUS and fuel battery monitors
 2020-05-06 15:46:13 +09:00
Andrew Tridgell
943e495f34 AP_BattMonitor: support selective enable of SMBUS and fuel battery monitors 2020-05-06 15:46:10 +09:00
Andrew Tridgell
d40671b8d8 AP_Terrain: added script for creating terrain *.dat files 
useful for pre-populating a microSD card
 2020-05-06 15:35:00 +09:00
Andrew Tridgell
8efe7c1b71 AP_Terrain: fixed bug in disk offset calculation 
this fixes a problem where two different locations could both be
mapped to the same disk block in the terrain/*.DAT files. That meant
that pre-filled terrain on the microSD card would sometimes require a
download in flight. It also means that a RTL with loss of GCS could
sometimes fly through a region with no terrain data available

Other changes in this patch:

 - allow for a 2cm discrepancy in the lat/lon of the grid
   corners. This is needed to allow for slightly different floating
   point rounding in tools that pre-generate terrain data to load on
   the microSD

 - added TERRAIN_OPTIONS parameter to allow the user to disable
   attempts to download new terrain data. This is mostly useful for
   testing to validate a terrain generator
 2020-05-06 15:34:57 +09:00
Paul Riseborough
9cd7cf4c01 AP_NavEKF3: Don't use geomag data when user specifies declination 2020-05-06 15:31:02 +09:00